The paper presents a design of six axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows to track the current position of each axis and use this to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows to tune parameters of the controllers for both control loops: inner, related to the speed of the robot and outer, related to it’s position.
Authors
Additional information
- Category
- Publikacja w czasopiśmie
- Type
- artykuły w czasopismach
- Language
- angielski
- Publication year
- 2022
